CN103273478A - Feed manipulator of spring bars former - Google Patents

Feed manipulator of spring bars former Download PDF

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Publication number
CN103273478A
CN103273478A CN2013102139673A CN201310213967A CN103273478A CN 103273478 A CN103273478 A CN 103273478A CN 2013102139673 A CN2013102139673 A CN 2013102139673A CN 201310213967 A CN201310213967 A CN 201310213967A CN 103273478 A CN103273478 A CN 103273478A
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CN
China
Prior art keywords
cylinder
mentioned
fixed
telescoping mechanism
telescoping
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Pending
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CN2013102139673A
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Chinese (zh)
Inventor
张磊
王立士
缪家泉
吕丽平
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ANHUI CHAOHU CASTING FACTORY Co Ltd
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ANHUI CHAOHU CASTING FACTORY Co Ltd
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Priority to CN2013102139673A priority Critical patent/CN103273478A/en
Publication of CN103273478A publication Critical patent/CN103273478A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a feed manipulator of a spring bars former. The feed manipulator comprises a gripping mechanism, a telescoping mechanism, a rotating mechanism, and a shifting mechanism. The side of the telescoping mechanism is connected with the gripping mechanism and capable of telescoping lengthwise along the gripping mechanism. The rotating mechanism is connected to the top of the telescoping mechanism. When rotating, the rotating mechanism drives the telescoping mechanism and the gripping mechanism to swing in the vertical plane, where the telescoping mechanism and the gripping mechanism are located, by centering on the connection of the telescoping mechanism with the gripping rotating mechanism. The rotating mechanism is fixed on the shifting mechanism which can shift transversely. The feed manipulator has the advantages that the problem of low automation level of a spring bars production line is solved, potential safety hazards of workers are eliminated, workers need not work in the severe environment, production efficiency is improved, product quality is guaranteed, and the manipulator is an anthropopathic electronic device having the advantages of both human and machine.

Description

The feeding mechanical hand of spring make-up machine
Technical field
The present invention relates to a kind of manipulator, especially the feeding mechanical hand of spring make-up machine.
Background technology
The robot technology: a kind of operation program that U.S. Allied Control Company at first succeeds in developing is variable, and stroke is adjustable, the senior manipulator that adaptive faculty is strong.It not only can give the automatic machine tool loading and unloading of many kinds, small lot batch manufacture, works as staff to a certain extent, therefore claims that this senior manipulator is robot.Robot is typical electromechanical integration high-tech product, since nineteen fifty-nine, the U.S. developed first robot, Robotics and products thereof development is very fast, it is for improving production automation level, labor productivity and economic benefit, guarantee product quality, the effect of aspect such as improve working conditions is remarkable day by day.But have shortcoming as follows as this technology of thermoforming field in application: operating environments such as thermoforming, heat treatment are relatively poor, are restricted on the robot application; Robot is as a kind of high-tech product, and its cost is higher, and its high cost can't bear in general enterprise; The modularized design of robot, as go wrong that it repairs difficulty, change the problem of getting up must cause the wasting of resources; The operating maintenance of robot all needs to have high-quality professional and technical personnel, and common skilled worker can't keep in repair.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of feeding mechanical hand of spring make-up machine.
The present invention is achieved through the following technical solutions.
A kind of feeding mechanical hand of spring make-up machine, comprise grasping mechanism, telescoping mechanism, rotating mechanism, transverse-moving mechanism, above-mentioned telescoping mechanism side connects above-mentioned grasping mechanism, it can be along the direction collapsing length of above-mentioned grasping mechanism, the top of above-mentioned telescoping mechanism connects above-mentioned rotating mechanism, when above-mentioned rotating mechanism rotates, can make above-mentioned telescoping mechanism and above-mentioned grasping mechanism at perpendicular of living in spot wobble centered by above-mentioned telescoping mechanism and above-mentioned rotating mechanism junction, above-mentioned rotating mechanism is fixed on above-mentioned transverse-moving mechanism, and above-mentioned transverse-moving mechanism can laterally move.
Further, above-mentioned grasping mechanism comprises that pneumatic link-type hand is grabbed, connecting rod, driving cylinder, and above-mentioned connecting rod one end is assemblied in the above-mentioned driving cylinder, and the fixing pneumatic link-type hand of the other end is grabbed, and above-mentioned driving cylinder connects above-mentioned telescoping mechanism.
Further, above-mentioned telescoping mechanism comprises telescopic arm, telescopic cylinder, and above-mentioned telescopic arm one end is assemblied in the above-mentioned telescopic cylinder, and the other end connects above-mentioned grasping mechanism.
Further, above-mentioned telescoping mechanism also comprises at least one guide pillar, and above-mentioned guide pillar one end connects above-mentioned telescopic cylinder, and the other end connects above-mentioned grasping mechanism, and above-mentioned guide pillar and above-mentioned telescopic arm are parallel to each other.
Further, above-mentioned telescoping mechanism also includes rotating shaft, and above-mentioned rotating shaft is connected the top of above-mentioned telescopic cylinder, and above-mentioned rotating shaft can rotate in above-mentioned telescoping mechanism, above-mentioned grasping mechanism perpendicular of living in.
Further, above-mentioned rotating mechanism comprises rotary cylinder, push rod, Connection Block, fixed mount, above-mentioned rotary cylinder is fixed on the said fixing frame, above-mentioned push rod one end is assemblied in the above-mentioned rotary cylinder, the other end is fixed above-mentioned Connection Block, above-mentioned Connection Block and above-mentioned telescopic cylinder are fixed, and the bottom of said fixing frame is fixed in above-mentioned rotating shaft.
Further, above-mentioned transverse-moving mechanism comprises traversing base, Rodless cylinder, stockless cylinder slipper, Rodless cylinder fixed mount, above-mentioned stockless cylinder slipper is assemblied in above-mentioned Rodless cylinder, above-mentioned Rodless cylinder is installed in the above-mentioned Rodless cylinder fixed mount, above-mentioned traversing base one end is fixed on above-mentioned stockless cylinder slipper, and the other end and above-mentioned rotating mechanism are connected and fixed.
Beneficial effect of the present invention:
It is low to solve spring production line automation degree, eliminate workman's personal safety hidden danger, avoid the workman to work under rugged environment for a long time and improved production efficiency, guaranteed product quality, manipulator is a kind of Mechatronic device of personification that combines the speciality of people and machine.
Description of drawings
Fig. 1 is the structural representation of the feeding mechanical hand of the implementation case spring make-up machine;
Fig. 2 is the structural representation of the implementation case grasping mechanism;
Fig. 3 is the structural representation of the implementation case telescoping mechanism;
Fig. 4 is the structural representation of the implementation case rotating mechanism;
Fig. 5 is the structural representation of the implementation case transverse-moving mechanism.
The specific embodiment
The present invention is described in further detail with embodiment with reference to the accompanying drawings below.
Fig. 1 is the structural representation of the feeding mechanical hand of the implementation case spring make-up machine, and with reference to Fig. 1, the feeding mechanical hand of spring make-up machine comprises grasping mechanism 1, telescoping mechanism 2, rotating mechanism 3, transverse-moving mechanism 4.Wherein, above-mentioned telescoping mechanism 2 sides connect above-mentioned grasping mechanism 1, telescoping mechanism 2 can be along the direction collapsing length of above-mentioned grasping mechanism 1, the top of above-mentioned telescoping mechanism 2 connects above-mentioned rotating mechanism 3, when above-mentioned rotating mechanism 3 rotates, can make above-mentioned telescoping mechanism 2 and above-mentioned grasping mechanism 1 at perpendicular of living in spot wobble centered by above-mentioned telescoping mechanism 2 and above-mentioned rotating mechanism 3 junctions, above-mentioned rotating mechanism 3 is fixed on above-mentioned transverse-moving mechanism 4, and above-mentioned transverse-moving mechanism 4 can laterally move.
Fig. 2 is the structural representation of the implementation case grasping mechanism, with reference to Fig. 2, and in conjunction with Fig. 1, grasping mechanism 1 comprises that pneumatic link-type hand grabs 11, connecting rod 12, drive cylinder 13, above-mentioned connecting rod 12 1 ends are assemblied in the above-mentioned driving cylinder 13, the fixing pneumatic link-type hand of the other end grabs 11, and above-mentioned driving cylinder 13 connects above-mentioned telescoping mechanism 2.
At first pneumatic link-type hand grab 11 grasp to as if bar, stable for what grasp, adopt 3 contacts up and down, above a bit, below 2 points, this Grasp Modes can guarantee that bar grabs left and right sides balance on 11 at pneumatic link-type hand, and this mode is than other Grasp Modes of symmetrical structure up and down, simple and stable.Because that grasps expects liking heat, in order to reduce the heat conduction to the damage of driving cylinder 13, can add connecting rod 12, plays the effect of protection cylinder.
Fig. 3 is the structural representation of the implementation case telescoping mechanism, and with reference to Fig. 3 and in conjunction with Fig. 1, telescoping mechanism 2 comprises telescopic arm 21, telescopic cylinder 23, and above-mentioned telescopic arm 21 1 ends are assemblied in the above-mentioned telescopic cylinder 23, and the other end connects above-mentioned grasping mechanism 1.
Telescoping mechanism 2 also comprises at least one guide pillar 22, in the implementation case, guide pillar 22 arranges two, two guide pillars 22 are separately positioned on the both sides of above-mentioned telescopic arm 21, the one end connects above-mentioned telescopic cylinder 23, the other end connects above-mentioned grasping mechanism 1, and above-mentioned guide pillar 22 is parallel to each other with above-mentioned telescopic arm 21.
Continuation is with reference to Fig. 3, and telescoping mechanism 2 also includes rotating shaft 24, and above-mentioned rotating shaft 24 is connected the top of above-mentioned telescopic cylinder 23, and above-mentioned rotating shaft 24 can rotate in above-mentioned telescoping mechanism 2, above-mentioned grasping mechanism 1 perpendicular of living in.
Telescopic arm 21 stretches under the driving of telescopic cylinder 23, is led and the positional precision maintenance by guide pillar 22, and the position of rotating shaft 24 is rotations of considering whole telescopic arm 21.
Fig. 4 is the structural representation of the implementation case rotating mechanism, with reference to Fig. 4, and in conjunction with Fig. 1, Fig. 3, rotating mechanism 3 comprises rotary cylinder 33, push rod 32, Connection Block 31, fixed mount 34, above-mentioned rotary cylinder 33 is fixed on the said fixing frame 34, and above-mentioned push rod 32 1 ends are assemblied in the above-mentioned rotary cylinder 33, and the other end is fixed above-mentioned Connection Block 31, above-mentioned Connection Block 31 is fixed with above-mentioned telescopic cylinder 23, and the bottom of said fixing frame 34 is fixed in above-mentioned rotating shaft 24.Under rotary cylinder 34 drove, push rod 32 flexible promotion telescoping mechanisms 2 were that pivot is swung in perpendicular with rotating shaft 24.
Fig. 5 is the structural representation of the implementation case transverse-moving mechanism, with reference to Fig. 5 and in conjunction with Fig. 1, transverse-moving mechanism 4 comprises traversing base 41, Rodless cylinder 43, stockless cylinder slipper 42, Rodless cylinder fixed mount 44, above-mentioned Rodless cylinder sliding 42 is packaged to fit over above-mentioned Rodless cylinder 43, above-mentioned Rodless cylinder 43 is installed in the above-mentioned Rodless cylinder fixed mount 44, above-mentioned traversing base 41 1 ends are fixed on above-mentioned stockless cylinder slipper 42, the other end and above-mentioned rotating mechanism 3 are connected and fixed, and stockless cylinder slipper 42 drives the whole device of drive by Rodless cylinder 43 and laterally moves.
The present invention, the feeding mechanical hand of spring make-up machine, its workflow is as follows: but telescoping mechanism is stretched to the crawl position, grasping mechanism grasps charge bar and fixes, rotating mechanism rotation, telescoping mechanism withdrawal, laterally move by transverse-moving mechanism, grasping mechanism puts down charge bar, and transverse-moving mechanism resets device, so circulation.
The present invention, the feeding mechanical hand of spring make-up machine, it is low to solve spring production line automation degree, eliminate workman's personal safety hidden danger, avoid the workman under rugged environment, to work for a long time and improved production efficiency, guaranteed product quality, manipulator is a kind of Mechatronic device of personification that combines the speciality of people and machine.
Above-described embodiment only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage that is familiar with this art can understand content of the present invention and is also implemented, and can not limit protection scope of the present invention with this.All equivalences that spirit essence is done according to the present invention change or modify, and all should be encompassed in protection scope of the present invention.

Claims (7)

1. the feeding mechanical hand of a spring make-up machine, it is characterized in that, comprise grasping mechanism, telescoping mechanism, rotating mechanism, transverse-moving mechanism, described telescoping mechanism side connects described grasping mechanism, it can be along the direction collapsing length of described grasping mechanism, the top of described telescoping mechanism connects described rotating mechanism, when described rotating mechanism rotates, can make described telescoping mechanism and described grasping mechanism at perpendicular of living in spot wobble centered by described telescoping mechanism and described rotating mechanism junction, described rotating mechanism is fixed on described transverse-moving mechanism, and described transverse-moving mechanism can laterally move.
2. the feeding mechanical hand of spring make-up machine according to claim 1, it is characterized in that, described grasping mechanism comprises that pneumatic link-type hand is grabbed, connecting rod, driving cylinder, described connecting rod one end is assemblied in the described driving cylinder, the fixing pneumatic link-type hand of the other end is grabbed, and described driving cylinder connects described telescoping mechanism.
3. the feeding mechanical hand of spring make-up machine according to claim 1 is characterized in that, described telescoping mechanism comprises telescopic arm, telescopic cylinder, and described telescopic arm one end is assemblied in the described telescopic cylinder, and the other end connects described grasping mechanism.
4. the feeding mechanical hand of spring make-up machine according to claim 3, it is characterized in that described telescoping mechanism also comprises at least one guide pillar, described guide pillar one end connects described telescopic cylinder, the other end connects described grasping mechanism, and described guide pillar and described telescopic arm are parallel to each other.
5. the feeding mechanical hand of spring make-up machine according to claim 3, it is characterized in that, described telescoping mechanism also includes rotating shaft, and described rotating shaft is connected the top of described telescopic cylinder, and described rotating shaft can rotate in described telescoping mechanism, described grasping mechanism perpendicular of living in.
6. the feeding mechanical hand of spring make-up machine according to claim 5, it is characterized in that, described rotating mechanism comprises rotary cylinder, push rod, Connection Block, fixed mount, described rotary cylinder is fixed on the described fixed mount, described push rod one end is assemblied in the described rotary cylinder, the other end is fixed described Connection Block, and described Connection Block and described telescopic cylinder are fixed, and the bottom of described fixed mount is fixed in described rotating shaft.
7. the feeding mechanical hand of spring make-up machine according to claim 1, it is characterized in that, described transverse-moving mechanism comprises traversing base, Rodless cylinder, stockless cylinder slipper, Rodless cylinder fixed mount, described stockless cylinder slipper is assemblied in described Rodless cylinder, described Rodless cylinder is installed in the described Rodless cylinder fixed mount, described traversing base one end is fixed on described stockless cylinder slipper, and the other end and described rotating mechanism are connected and fixed.
CN2013102139673A 2013-05-31 2013-05-31 Feed manipulator of spring bars former Pending CN103273478A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106180444A (en) * 2016-08-31 2016-12-07 安徽金星预应力工程技术有限公司 A kind of spring automatic production line
CN106181421A (en) * 2016-08-31 2016-12-07 安徽金星预应力工程技术有限公司 A kind of spring production line with automatic discharging function
CN106181376A (en) * 2016-09-19 2016-12-07 瑞安市恒晟自动化设备有限公司 Blade apparatus is sent on pencil sharpener kludge
CN106180377A (en) * 2016-08-31 2016-12-07 安徽金星预应力工程技术有限公司 A kind of spring production line with automatic guide function
CN107186534A (en) * 2017-07-11 2017-09-22 河海大学常州校区 Feeding robot
CN111036995A (en) * 2019-12-30 2020-04-21 惠州市富源鸿泰精工科技有限公司 Grooving machine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4273504A (en) * 1978-05-22 1981-06-16 Nissan Motor Company, Limited Industrial robot system capable of pressure applied machining operations
CN201579786U (en) * 2009-08-12 2010-09-15 江苏大学 Adjustable clamping manipulator
US20100229669A1 (en) * 2009-03-16 2010-09-16 Korea Advanced Institute Of Science And Technology Manipulator with distributed actuation mechanism
CN201950134U (en) * 2010-12-30 2011-08-31 无锡市新峰管业股份有限公司 Loading and unloading manipulator of tube forming machine
CN202292756U (en) * 2011-09-29 2012-07-04 长城汽车股份有限公司 Spare tyre conveying manipulator
CN102806562A (en) * 2012-09-10 2012-12-05 江南现代工业研究院 Manipulator for clamping workpiece
CN102975198A (en) * 2012-11-30 2013-03-20 厉彦亮 Flexible hydraulic mechanical hand
CN203293207U (en) * 2013-05-31 2013-11-20 安徽省巢湖铸造厂有限责任公司 Feeding mechanical arm of elastic strip forming machine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4273504A (en) * 1978-05-22 1981-06-16 Nissan Motor Company, Limited Industrial robot system capable of pressure applied machining operations
US20100229669A1 (en) * 2009-03-16 2010-09-16 Korea Advanced Institute Of Science And Technology Manipulator with distributed actuation mechanism
CN201579786U (en) * 2009-08-12 2010-09-15 江苏大学 Adjustable clamping manipulator
CN201950134U (en) * 2010-12-30 2011-08-31 无锡市新峰管业股份有限公司 Loading and unloading manipulator of tube forming machine
CN202292756U (en) * 2011-09-29 2012-07-04 长城汽车股份有限公司 Spare tyre conveying manipulator
CN102806562A (en) * 2012-09-10 2012-12-05 江南现代工业研究院 Manipulator for clamping workpiece
CN102975198A (en) * 2012-11-30 2013-03-20 厉彦亮 Flexible hydraulic mechanical hand
CN203293207U (en) * 2013-05-31 2013-11-20 安徽省巢湖铸造厂有限责任公司 Feeding mechanical arm of elastic strip forming machine

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106180444A (en) * 2016-08-31 2016-12-07 安徽金星预应力工程技术有限公司 A kind of spring automatic production line
CN106181421A (en) * 2016-08-31 2016-12-07 安徽金星预应力工程技术有限公司 A kind of spring production line with automatic discharging function
CN106180377A (en) * 2016-08-31 2016-12-07 安徽金星预应力工程技术有限公司 A kind of spring production line with automatic guide function
CN106181376A (en) * 2016-09-19 2016-12-07 瑞安市恒晟自动化设备有限公司 Blade apparatus is sent on pencil sharpener kludge
CN106181376B (en) * 2016-09-19 2018-10-23 瑞安市恒晟自动化设备有限公司 Blade apparatus is sent on pencil sharpener kludge
CN107186534A (en) * 2017-07-11 2017-09-22 河海大学常州校区 Feeding robot
CN111036995A (en) * 2019-12-30 2020-04-21 惠州市富源鸿泰精工科技有限公司 Grooving machine

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Application publication date: 20130904